X-IONet combines rule-based platform classification with a dual-stage attention network to predict displacement and uncertainty from IMU data, then fuses outputs via EKF, achieving reported error reductions on pedestrian and quadruped datasets.
Esvo2: Direct visual-inertial odometry with stereo event cameras
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X-IONet: Cross-Platform Inertial Odometry Network for Pedestrian and Legged Robot
X-IONet combines rule-based platform classification with a dual-stage attention network to predict displacement and uncertainty from IMU data, then fuses outputs via EKF, achieving reported error reductions on pedestrian and quadruped datasets.